Source code for morse.middleware.moos.light
import logging; logger = logging.getLogger("morse." + __name__)
import pymoos.MOOSCommClient
from morse.middleware.moos import AbstractMOOS
[docs]class LightReader(AbstractMOOS):
""" Read light commands. """
[docs] def initialize(self):
AbstractMOOS.initialize(self)
# register for control variables from the database
self.m.Register("cLight")
[docs] def default(self, ci='unused'):
current_time = pymoos.MOOSCommClient.MOOSTime()
# get latest mail from the MOOS comm client
messages = self.getRecentMail()
new_information = False
for message in messages:
# look for command messages
if (message.GetKey() == "cLight"):
self.data['emit'] = (message.GetString()=="true")
new_information = True
return new_information